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<div class="title">misc.h</div>  </div>
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<a href="misc_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#ifndef G2O_STUFF_MISC_H</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define G2O_STUFF_MISC_H</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="macros_8h.html">macros.h</a>&quot;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &lt;cmath&gt;</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#ifndef M_PI</span></div><div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="misc_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">   34</a></span>&#160;<span class="preprocessor">#define M_PI 3.14159265358979323846</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment">// @{</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a> {</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="namespaceg2o.html#ada3127f4fe72b228407fabe23b72a50b">   52</a></span>&#160;<span class="keyword">inline</span> T <a class="code" href="namespaceg2o.html#ada3127f4fe72b228407fabe23b72a50b">square</a>(T x)</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;{</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keywordflow">return</span> x*x;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;}</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="namespaceg2o.html#a586ee8937cdc8de49303abd1611da387">   61</a></span>&#160;<span class="keyword">inline</span> T <a class="code" href="namespaceg2o.html#a586ee8937cdc8de49303abd1611da387">hypot</a>(T x, T y)</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;{</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keywordflow">return</span> (T) (sqrt(x*x + y*y));</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;}</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="namespaceg2o.html#ac2989135761e62b40066193a11950d21">   70</a></span>&#160;<span class="keyword">inline</span> T <a class="code" href="namespaceg2o.html#ac2989135761e62b40066193a11950d21">hypot_sqr</a>(T x, T y)</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;{</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keywordflow">return</span> x*x + y*y;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;}</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;</div><div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="namespaceg2o.html#a8f29adce7d7b9855e1d0ba43835c34b3">   78</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="namespaceg2o.html#a8f29adce7d7b9855e1d0ba43835c34b3">deg2rad</a>(<span class="keywordtype">double</span> degree)</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;{</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keywordflow">return</span> degree * 0.01745329251994329576;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;}</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;</div><div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="namespaceg2o.html#a3965702cbb6051fa2bdb0c75c0358126">   86</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="namespaceg2o.html#a3965702cbb6051fa2bdb0c75c0358126">rad2deg</a>(<span class="keywordtype">double</span> rad)</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;{</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keywordflow">return</span> rad * 57.29577951308232087721;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;}</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;</div><div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="namespaceg2o.html#a9f036eb4c147ddf174aa56fa031f3867">   94</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="namespaceg2o.html#a9f036eb4c147ddf174aa56fa031f3867">normalize_theta</a>(<span class="keywordtype">double</span> theta)</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;{</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <span class="keywordflow">if</span> (theta &gt;= -<a class="code" href="misc_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">M_PI</a> &amp;&amp; theta &lt; <a class="code" href="misc_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">M_PI</a>)</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="keywordflow">return</span> theta;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  </div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="keywordtype">double</span> multiplier = floor(theta / (2*<a class="code" href="misc_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">M_PI</a>));</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  theta = theta - multiplier*2*<a class="code" href="misc_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">M_PI</a>;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="keywordflow">if</span> (theta &gt;= M_PI)</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    theta -= 2*<a class="code" href="misc_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">M_PI</a>;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <span class="keywordflow">if</span> (theta &lt; -M_PI)</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    theta += 2*<a class="code" href="misc_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">M_PI</a>;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="keywordflow">return</span> theta;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;}</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;</div><div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="namespaceg2o.html#a9ae48fc8caba4b009642ca53d69a3b98">  112</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="namespaceg2o.html#a9ae48fc8caba4b009642ca53d69a3b98">inverse_theta</a>(<span class="keywordtype">double</span> th)</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;{</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespaceg2o.html#a9f036eb4c147ddf174aa56fa031f3867">normalize_theta</a>(th + <a class="code" href="misc_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">M_PI</a>);</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;}</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;</div><div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="namespaceg2o.html#a25f6d3c7415a89f7a5bc1875a7fa5009">  120</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="namespaceg2o.html#a25f6d3c7415a89f7a5bc1875a7fa5009">average_angle</a>(<span class="keywordtype">double</span> theta1, <span class="keywordtype">double</span> theta2)</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;{</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <span class="keywordtype">double</span> x, y;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; 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 <span class="keywordflow">if</span> (x &gt; 0)</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="keywordflow">return</span> 1;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (x &lt; 0)</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  <span class="keywordflow">else</span></div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;}</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="namespaceg2o.html#a50939862674314724dd800c41f82e7fe">  151</a></span>&#160;<span class="keyword">inline</span> T <a class="code" href="namespaceg2o.html#a50939862674314724dd800c41f82e7fe">clamp</a>(T l, T x, T u) </div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;{</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  <span class="keywordflow">if</span> (x &lt; l)</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="keywordflow">return</span> l;</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  <span class="keywordflow">if</span> (x &gt; u)</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="keywordflow">return</span> u;</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  <span class="keywordflow">return</span> x;</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;}</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00164"></a><span class="lineno"><a class="line" href="namespaceg2o.html#a207912b4849eaff934f6384bc79d07ce">  164</a></span>&#160;<span class="keyword">inline</span> T <a class="code" href="namespaceg2o.html#a207912b4849eaff934f6384bc79d07ce">wrap</a>(T l, T x, T u) </div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;{</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  T intervalWidth = u - l;</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  <span class="keywordflow">while</span> (x &lt; l)</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    x += intervalWidth;</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  <span class="keywordflow">while</span> (x &gt; u)</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    x -= intervalWidth;</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  <span class="keywordflow">return</span> x;</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;}</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;</div><div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="namespaceg2o.html#a123840a60e0d1dde58088d15a1e1fffa">  177</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespaceg2o.html#a123840a60e0d1dde58088d15a1e1fffa">arrayHasNaN</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>* array, <span class="keywordtype">int</span> size, <span class="keywordtype">int</span>* nanIndex = 0)</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;{</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; size; ++i)</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="macros_8h.html#a6e68a96bd391c3e6f2d10325713c17f3">g2o_isnan</a>(array[i])) {</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      <span class="keywordflow">if</span> (nanIndex)</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        *nanIndex = i;</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    }</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;}</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;<span class="keyword">extern</span> <span class="stringliteral">&quot;C&quot;</span></div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;{</div><div class="line"><a name="l00193"></a><span class="lineno"><a class="line" href="namespaceg2o.html#a3be76fea59d320255e89425439f18f48">  193</a></span>&#160;    <span class="keyword">typedef</span> void (* <a class="code" href="namespaceg2o.html#a3be76fea59d320255e89425439f18f48">ForceLinkFunction</a>) (void);</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;}</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;</div><div class="line"><a name="l00196"></a><span class="lineno"><a class="line" href="structg2o_1_1_force_linker.html">  196</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structg2o_1_1_force_linker.html">ForceLinker</a></div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;{</div><div class="line"><a name="l00198"></a><span class="lineno"><a class="line" href="structg2o_1_1_force_linker.html#ae5489ea8966a1d1f62471075f1dd2524">  198</a></span>&#160;    <a class="code" href="structg2o_1_1_force_linker.html#ae5489ea8966a1d1f62471075f1dd2524">ForceLinker</a>(<a class="code" href="namespaceg2o.html#a3be76fea59d320255e89425439f18f48">ForceLinkFunction</a> <span class="keyword">function</span>) { (<span class="keyword">function</span>)(); }</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;};</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;} <span class="comment">// end namespace</span></div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;<span class="comment">// @}</span></div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="namespaceg2o_html_ada3127f4fe72b228407fabe23b72a50b"><div class="ttname"><a href="namespaceg2o.html#ada3127f4fe72b228407fabe23b72a50b">g2o::square</a></div><div class="ttdeci">T square(T x)</div><div class="ttdoc">return the square value </div><div class="ttdef"><b>Definition:</b> misc.h:52</div></div>
<div class="ttc" id="structg2o_1_1_force_linker_html_ae5489ea8966a1d1f62471075f1dd2524"><div class="ttname"><a href="structg2o_1_1_force_linker.html#ae5489ea8966a1d1f62471075f1dd2524">g2o::ForceLinker::ForceLinker</a></div><div class="ttdeci">ForceLinker(ForceLinkFunction function)</div><div class="ttdef"><b>Definition:</b> misc.h:198</div></div>
<div class="ttc" id="namespaceg2o_html_a3be76fea59d320255e89425439f18f48"><div class="ttname"><a href="namespaceg2o.html#a3be76fea59d320255e89425439f18f48">g2o::ForceLinkFunction</a></div><div class="ttdeci">void(* ForceLinkFunction)(void)</div><div class="ttdoc">The following two functions are used to force linkage with static libraries. </div><div class="ttdef"><b>Definition:</b> misc.h:193</div></div>
<div class="ttc" id="namespaceg2o_html_a8f29adce7d7b9855e1d0ba43835c34b3"><div class="ttname"><a href="namespaceg2o.html#a8f29adce7d7b9855e1d0ba43835c34b3">g2o::deg2rad</a></div><div class="ttdeci">double deg2rad(double degree)</div><div class="ttdoc">convert from degree to radian </div><div class="ttdef"><b>Definition:</b> misc.h:78</div></div>
<div class="ttc" id="namespaceg2o_html_a50939862674314724dd800c41f82e7fe"><div class="ttname"><a href="namespaceg2o.html#a50939862674314724dd800c41f82e7fe">g2o::clamp</a></div><div class="ttdeci">T clamp(T l, T x, T u)</div><div class="ttdoc">clamp x to the interval [l, u] </div><div class="ttdef"><b>Definition:</b> misc.h:151</div></div>
<div class="ttc" id="namespaceg2o_html_a25f6d3c7415a89f7a5bc1875a7fa5009"><div class="ttname"><a href="namespaceg2o.html#a25f6d3c7415a89f7a5bc1875a7fa5009">g2o::average_angle</a></div><div class="ttdeci">double average_angle(double theta1, double theta2)</div><div class="ttdoc">average two angles </div><div class="ttdef"><b>Definition:</b> misc.h:120</div></div>
<div class="ttc" id="namespaceg2o_html_ac2989135761e62b40066193a11950d21"><div class="ttname"><a href="namespaceg2o.html#ac2989135761e62b40066193a11950d21">g2o::hypot_sqr</a></div><div class="ttdeci">T hypot_sqr(T x, T y)</div><div class="ttdoc">return the squared hypot of x and y </div><div class="ttdef"><b>Definition:</b> misc.h:70</div></div>
<div class="ttc" id="macros_8h_html"><div class="ttname"><a href="macros_8h.html">macros.h</a></div></div>
<div class="ttc" id="namespaceg2o_html_a123840a60e0d1dde58088d15a1e1fffa"><div class="ttname"><a href="namespaceg2o.html#a123840a60e0d1dde58088d15a1e1fffa">g2o::arrayHasNaN</a></div><div class="ttdeci">bool arrayHasNaN(const double *array, int size, int *nanIndex=0)</div><div class="ttdoc">tests whether there is a NaN in the array </div><div class="ttdef"><b>Definition:</b> misc.h:177</div></div>
<div class="ttc" id="namespaceg2o_html_a821ae3df8a97b37daf8804ef3a26ef1d"><div class="ttname"><a href="namespaceg2o.html#a821ae3df8a97b37daf8804ef3a26ef1d">g2o::sign</a></div><div class="ttdeci">int sign(T x)</div><div class="ttdoc">sign function. </div><div class="ttdef"><b>Definition:</b> misc.h:137</div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="namespaceg2o_html_a3965702cbb6051fa2bdb0c75c0358126"><div class="ttname"><a href="namespaceg2o.html#a3965702cbb6051fa2bdb0c75c0358126">g2o::rad2deg</a></div><div class="ttdeci">double rad2deg(double rad)</div><div class="ttdoc">convert from radian to degree </div><div class="ttdef"><b>Definition:</b> misc.h:86</div></div>
<div class="ttc" id="namespaceg2o_html_a207912b4849eaff934f6384bc79d07ce"><div class="ttname"><a href="namespaceg2o.html#a207912b4849eaff934f6384bc79d07ce">g2o::wrap</a></div><div class="ttdeci">T wrap(T l, T x, T u)</div><div class="ttdoc">wrap x to be in the interval [l, u] </div><div class="ttdef"><b>Definition:</b> misc.h:164</div></div>
<div class="ttc" id="namespaceg2o_html_a9f036eb4c147ddf174aa56fa031f3867"><div class="ttname"><a href="namespaceg2o.html#a9f036eb4c147ddf174aa56fa031f3867">g2o::normalize_theta</a></div><div class="ttdeci">double normalize_theta(double theta)</div><div class="ttdoc">normalize the angle </div><div class="ttdef"><b>Definition:</b> misc.h:94</div></div>
<div class="ttc" id="structg2o_1_1_force_linker_html"><div class="ttname"><a href="structg2o_1_1_force_linker.html">g2o::ForceLinker</a></div><div class="ttdef"><b>Definition:</b> misc.h:196</div></div>
<div class="ttc" id="macros_8h_html_a6e68a96bd391c3e6f2d10325713c17f3"><div class="ttname"><a href="macros_8h.html#a6e68a96bd391c3e6f2d10325713c17f3">g2o_isnan</a></div><div class="ttdeci">#define g2o_isnan(x)</div><div class="ttdef"><b>Definition:</b> macros.h:105</div></div>
<div class="ttc" id="namespaceg2o_html_a9ae48fc8caba4b009642ca53d69a3b98"><div class="ttname"><a href="namespaceg2o.html#a9ae48fc8caba4b009642ca53d69a3b98">g2o::inverse_theta</a></div><div class="ttdeci">double inverse_theta(double th)</div><div class="ttdoc">inverse of an angle, i.e., +180 degree </div><div class="ttdef"><b>Definition:</b> misc.h:112</div></div>
<div class="ttc" id="namespaceg2o_html_a586ee8937cdc8de49303abd1611da387"><div class="ttname"><a href="namespaceg2o.html#a586ee8937cdc8de49303abd1611da387">g2o::hypot</a></div><div class="ttdeci">T hypot(T x, T y)</div><div class="ttdoc">return the hypot of x and y </div><div class="ttdef"><b>Definition:</b> misc.h:61</div></div>
<div class="ttc" id="misc_8h_html_ae71449b1cc6e6250b91f539153a7a0d3"><div class="ttname"><a href="misc_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">M_PI</a></div><div class="ttdeci">#define M_PI</div><div class="ttdef"><b>Definition:</b> misc.h:34</div></div>
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